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<div class="title">D:/Workspace/Arduino/prencar/Configuration.cpp</div>  </div>
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<a href="_configuration_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#include &quot;<a class="code" href="_configuration_8h.html">Configuration.h</a>&quot;</span>
<a name="l00002"></a>00002 
<a name="l00003"></a>00003 <a class="code" href="class_configuration.html">Configuration</a> <a class="code" href="class_configuration.html#a33a4ec5f460471c076a0b74b48aa7bbe" title="Static reference to the singleton object.">Configuration::_instance</a>; 
<a name="l00004"></a>00004 <span class="keywordtype">boolean</span> <a class="code" href="class_configuration.html#a30bcffe1c1a3b15d41d824f9a1570bf6">Configuration::_instanceCreated</a> = <span class="keyword">false</span>;
<a name="l00005"></a>00005 
<a name="l00006"></a>00006 byte <span class="keyword">const</span> <a class="code" href="class_configuration.html#a4ac462aa12ad49539d33d3ea718805c6" title="Returns the version of the configuration (number will be increased after a set of new configuration v...">Configuration::_CONFIGURATIONVERSION</a> = 1; 
<a name="l00007"></a>00007 <span class="keywordtype">long</span> <span class="keyword">const</span> <a class="code" href="class_configuration.html#a7e97b2bad64cee71271070bde2f71b74" title="Defines the serial data rate.">Configuration::_SERIALSPEED</a> = 9600; 
<a name="l00008"></a>00008 
<a name="l00013"></a><a class="code" href="class_configuration.html#ae327d26e81014cf46b25802478fe9b8e">00013</a> <a class="code" href="class_configuration.html">Configuration</a>* <a class="code" href="class_configuration.html#ae327d26e81014cf46b25802478fe9b8e">Configuration::getInstance</a>()
<a name="l00014"></a>00014 {
<a name="l00015"></a>00015   <span class="keywordflow">if</span> ( !<a class="code" href="class_configuration.html#a30bcffe1c1a3b15d41d824f9a1570bf6">_instanceCreated</a> ){
<a name="l00016"></a>00016     <a class="code" href="class_configuration.html#a33a4ec5f460471c076a0b74b48aa7bbe" title="Static reference to the singleton object.">_instance</a> = <a class="code" href="class_configuration.html#a779947337bf652f0e773cb29f37f14ba">Configuration</a>();
<a name="l00017"></a>00017     <a class="code" href="class_configuration.html#a30bcffe1c1a3b15d41d824f9a1570bf6">_instanceCreated</a> = <span class="keyword">true</span>;
<a name="l00018"></a>00018   }
<a name="l00019"></a>00019   <span class="keywordflow">return</span> &amp;<a class="code" href="class_configuration.html#a33a4ec5f460471c076a0b74b48aa7bbe" title="Static reference to the singleton object.">_instance</a>;
<a name="l00020"></a>00020 }
<a name="l00021"></a>00021 
<a name="l00022"></a><a class="code" href="class_configuration.html#a779947337bf652f0e773cb29f37f14ba">00022</a> <a class="code" href="class_configuration.html#a779947337bf652f0e773cb29f37f14ba">Configuration::Configuration</a>(){
<a name="l00023"></a>00023   <span class="comment">//set default values</span>
<a name="l00024"></a>00024   <a class="code" href="class_configuration.html#ae70babe0ee36a4650fbece87d8c7d3ba">_messageFilterLevel</a> = 0;
<a name="l00025"></a>00025   <a class="code" href="class_configuration.html#aca67601e35566058e2bca41b7188469e" title="Time in milliseconds to wait before the main loop starts. Can be used for debug purposes.">doJobDelay</a> = 0;
<a name="l00026"></a>00026   <a class="code" href="class_configuration.html#a6c0d6f8b78ea6b6e167c80bce9447906" title="Threshold value from black to white.">lineFollowWhiteThreshold</a> = 300;
<a name="l00027"></a>00027   <a class="code" href="class_configuration.html#aa799e7ed6a4722085506a31c051bf103" title="Interval in milliseconds in which the line follow job shall be executed.">lineFollowInterval</a> = 0;
<a name="l00028"></a>00028   <a class="code" href="class_configuration.html#a24e118088874b8f9d56bcaf245f1461d" title="The initial speed of the left motor when the parcours starts (0-255).">lineFollowInitialSpeedLeft</a> = 120; <span class="comment">//150 out of 255</span>
<a name="l00029"></a>00029   <a class="code" href="class_configuration.html#aabc113e529eb659768ca98f15d3952a3" title="The initial speed of the left motor when the parcours starts (0-255).">lineFollowInitialSpeedRight</a> = 120; <span class="comment">//150 out of 255</span>
<a name="l00030"></a>00030   <a class="code" href="class_configuration.html#a837faf9a747d5076bc8264f21bd944de">_movePwmLeftPin</a> = 2;
<a name="l00031"></a>00031   <a class="code" href="class_configuration.html#afc9f2ecf380cb522726bf9b9db3b22ee">_movePwmRightPin</a> = 3;
<a name="l00032"></a>00032   <a class="code" href="class_configuration.html#a04b90bd7b81fc535be0371f86cb36242">_moveModeFirstLeftPin</a> = 22;
<a name="l00033"></a>00033   <a class="code" href="class_configuration.html#a5d540af2975a193c360ce32847d96c21">_moveModeSecondLeftPin</a> = 23;
<a name="l00034"></a>00034   <a class="code" href="class_configuration.html#a2fdf55feb1a8b3ecde58405c67afe698">_moveModeFirstRightPin</a> = 24;
<a name="l00035"></a>00035   <a class="code" href="class_configuration.html#a6232e7ba37ad172f80c5248239bd8f9b">_moveModeSecondRightPin</a> = 25;
<a name="l00036"></a>00036   <a class="code" href="class_configuration.html#a09d83c2f3c4485fd864bf998e62788d7">lineFollowLeftSensorPin</a> = A5;
<a name="l00037"></a>00037   <a class="code" href="class_configuration.html#a254b7ac19c994603776d47645235a132">lineFollowRightSensorPin</a> = A4;
<a name="l00038"></a>00038   <a class="code" href="class_configuration.html#a683b496d15eca4addb13325d9707abcf">lineFollowLeftFrontSensorPin</a> = A6;
<a name="l00039"></a>00039   <a class="code" href="class_configuration.html#ab8d7a8d9f62cfafe082cc32915ef4bfa">lineFollowRightFrontSensorPin</a> = A7;
<a name="l00040"></a>00040   <a class="code" href="class_configuration.html#aabaf837f8816911a6d0b1e8cd7867cb9">lineFollowKp</a> = 5;
<a name="l00041"></a>00041   <a class="code" href="class_configuration.html#aad2572d8c68520c2ef6613d29f38a9cf">lineFollowKd</a> = 25;
<a name="l00042"></a>00042   <a class="code" href="class_configuration.html#a25401bc6511b005d70f71e4b72f71c03" title="The pin where the servo motor of the hoist is connected to.">liftCubePwmPin</a> = 4;
<a name="l00043"></a>00043 
<a name="l00044"></a>00044   <a class="code" href="class_configuration.html#abb72b12442f449f9e1cb31c444b40927" title="The speed of the slower motor (in a left curve, left motor) during a 90° curve.">curveSpeedSlowMotor</a> = 60;
<a name="l00045"></a>00045   <a class="code" href="class_configuration.html#a5bca21a22d225315fca8088a4668d20c" title="The speed of the faster motor (in a left curve, right motor) during a 90° curve.">curveSpeedFastMotor</a> = 120;
<a name="l00046"></a>00046   <a class="code" href="class_configuration.html#aa2238d49c21c52f8e86ff0ac80aff034" title="Interval in milliseconds in which the curve job shall be executed.">curveInterval</a> = 0;
<a name="l00047"></a>00047   <a class="code" href="class_configuration.html#adec850d0b0519d7a799841e6086a777d" title="Time in milliseconds after which the end sensor (end sensor = sensor that will recognize when the cur...">curveActivateEndSensorOffset</a> = 500;
<a name="l00048"></a>00048 
<a name="l00049"></a>00049   <a class="code" href="class_configuration.html#a64566ef4e13d578a41614a643acfdd51" title="The pin where the left bottom distance sensor is connected to.">cubeApproachLeftBottomSensor</a> = A0;
<a name="l00050"></a>00050   <a class="code" href="class_configuration.html#a5c4874ad8b2a3f5888a0c69fbbb2bb8b" title="The pin where the left top distance sensor is connected to.">cubeApproachLeftTopSensor</a> = A1;
<a name="l00051"></a>00051   <a class="code" href="class_configuration.html#a87c9f78ce74ac840afac408a4d321cf1" title="The pin where the right bottom distance sensor is connected to.">cubeApproachRightBottomSensor</a> = A2;
<a name="l00052"></a>00052   <a class="code" href="class_configuration.html#ae0ce367a5bec000ca27cd7c80117646d" title="The pin where the right top distance sensor is connected to.">cubeApproachRightTopSensor</a> = A3;
<a name="l00053"></a>00053 
<a name="l00054"></a>00054   <a class="code" href="class_configuration.html#a9b33a4a750145bf398c4030922784967" title="Interval in milliseconds in which the debug sensors.">sensorDebugInterval</a> = 1000;
<a name="l00055"></a>00055   <a class="code" href="class_configuration.html#a6c05aa8e21c264aab388e9532f6aa6a3" title="Time in milliseconds between reading every sensor.">sensorDebugReadGap</a> = 0;
<a name="l00056"></a>00056 }
<a name="l00057"></a>00057 
<a name="l00063"></a><a class="code" href="class_configuration.html#aecb79d09fce1b802e93a815cedd2a22e">00063</a> byte <a class="code" href="class_configuration.html#aecb79d09fce1b802e93a815cedd2a22e">Configuration::getConfigurationVersion</a>(){
<a name="l00064"></a>00064   <span class="keywordflow">return</span> <a class="code" href="class_configuration.html#a4ac462aa12ad49539d33d3ea718805c6" title="Returns the version of the configuration (number will be increased after a set of new configuration v...">_CONFIGURATIONVERSION</a>;
<a name="l00065"></a>00065 }
<a name="l00066"></a>00066 
<a name="l00071"></a><a class="code" href="class_configuration.html#a75b42e72d9a00415dfafa5d5dd8281b8">00071</a> <span class="keywordtype">long</span> <a class="code" href="class_configuration.html#a75b42e72d9a00415dfafa5d5dd8281b8">Configuration::getSerialSpeed</a>(){
<a name="l00072"></a>00072   <span class="keywordflow">return</span> <a class="code" href="class_configuration.html#a7e97b2bad64cee71271070bde2f71b74" title="Defines the serial data rate.">_SERIALSPEED</a>;
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074 
<a name="l00081"></a><a class="code" href="class_configuration.html#ad398e1915b07ffc4091d4d5827bd6c6e">00081</a> byte <a class="code" href="class_configuration.html#ad398e1915b07ffc4091d4d5827bd6c6e">Configuration::getMessageFilterLevel</a>(){
<a name="l00082"></a>00082   <span class="keywordflow">return</span> <a class="code" href="class_configuration.html#ae70babe0ee36a4650fbece87d8c7d3ba">_messageFilterLevel</a>;
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084 
<a name="l00090"></a><a class="code" href="class_configuration.html#ac9aec24b13533a9af3cb937fe5662e05">00090</a> <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#ac9aec24b13533a9af3cb937fe5662e05">Configuration::setMessageFilterLevel</a>(byte value){
<a name="l00091"></a>00091   <a class="code" href="class_configuration.html#ae70babe0ee36a4650fbece87d8c7d3ba">_messageFilterLevel</a> = value;
<a name="l00092"></a>00092 }
<a name="l00093"></a>00093 
<a name="l00097"></a><a class="code" href="class_configuration.html#aecc6c34b834bb9adb42d5f8c7314cd9c">00097</a> byte <a class="code" href="class_configuration.html#aecc6c34b834bb9adb42d5f8c7314cd9c">Configuration::getMovePwmLeftPin</a>(){
<a name="l00098"></a>00098   <span class="keywordflow">return</span> <a class="code" href="class_configuration.html#a837faf9a747d5076bc8264f21bd944de">_movePwmLeftPin</a>;
<a name="l00099"></a>00099 }
<a name="l00100"></a>00100 
<a name="l00104"></a><a class="code" href="class_configuration.html#a2298db2f115e9c7daa6924158eac0ee5">00104</a> <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#a2298db2f115e9c7daa6924158eac0ee5">Configuration::setMovePwmLeftPin</a>(byte value){
<a name="l00105"></a>00105   <a class="code" href="class_configuration.html#a837faf9a747d5076bc8264f21bd944de">_movePwmLeftPin</a> = value;
<a name="l00106"></a>00106 }
<a name="l00107"></a>00107 
<a name="l00111"></a><a class="code" href="class_configuration.html#a156dc7d1360c8e70c7aba5eb20481afa">00111</a> byte <a class="code" href="class_configuration.html#a156dc7d1360c8e70c7aba5eb20481afa">Configuration::getMovePwmRightPin</a>(){
<a name="l00112"></a>00112   <span class="keywordflow">return</span> <a class="code" href="class_configuration.html#afc9f2ecf380cb522726bf9b9db3b22ee">_movePwmRightPin</a>;
<a name="l00113"></a>00113 }
<a name="l00114"></a>00114 
<a name="l00118"></a><a class="code" href="class_configuration.html#a40c3af95f85bb649a09f67c52e52e5f8">00118</a> <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#a40c3af95f85bb649a09f67c52e52e5f8">Configuration::setMovePwmRightPin</a>(byte value){
<a name="l00119"></a>00119   <a class="code" href="class_configuration.html#afc9f2ecf380cb522726bf9b9db3b22ee">_movePwmRightPin</a> = value;
<a name="l00120"></a>00120 }
<a name="l00121"></a>00121 
<a name="l00125"></a><a class="code" href="class_configuration.html#aa1599159aa8233fe3f974fb2e51129e4">00125</a> byte <a class="code" href="class_configuration.html#aa1599159aa8233fe3f974fb2e51129e4">Configuration::getMoveModeFirstLeftPin</a>(){
<a name="l00126"></a>00126   <span class="keywordflow">return</span> <a class="code" href="class_configuration.html#a04b90bd7b81fc535be0371f86cb36242">_moveModeFirstLeftPin</a>;
<a name="l00127"></a>00127 }
<a name="l00128"></a>00128 
<a name="l00132"></a><a class="code" href="class_configuration.html#ac1c03fb6b6462d9db8430f46e1a8ef0f">00132</a> <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#ac1c03fb6b6462d9db8430f46e1a8ef0f">Configuration::setMoveModeFirstLeftPin</a>(byte value){
<a name="l00133"></a>00133   <a class="code" href="class_configuration.html#a04b90bd7b81fc535be0371f86cb36242">_moveModeFirstLeftPin</a> = value;
<a name="l00134"></a>00134 }
<a name="l00135"></a>00135 
<a name="l00139"></a><a class="code" href="class_configuration.html#a4d1252f0afd9ebb35cc7f38a769fdeff">00139</a> byte <a class="code" href="class_configuration.html#a4d1252f0afd9ebb35cc7f38a769fdeff">Configuration::getMoveModeSecondLeftPin</a>(){
<a name="l00140"></a>00140   <span class="keywordflow">return</span> <a class="code" href="class_configuration.html#a5d540af2975a193c360ce32847d96c21">_moveModeSecondLeftPin</a>;
<a name="l00141"></a>00141 }
<a name="l00142"></a>00142 
<a name="l00146"></a><a class="code" href="class_configuration.html#aa5a4573ea03a890274a6c94a6e238686">00146</a> <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#aa5a4573ea03a890274a6c94a6e238686">Configuration::setMoveModeSecondLeftPin</a>(byte value){
<a name="l00147"></a>00147   <a class="code" href="class_configuration.html#a5d540af2975a193c360ce32847d96c21">_moveModeSecondLeftPin</a> = value;
<a name="l00148"></a>00148 }
<a name="l00149"></a>00149 
<a name="l00153"></a><a class="code" href="class_configuration.html#a9bf200a445b05745a678d18e46ca446d">00153</a> byte <a class="code" href="class_configuration.html#a9bf200a445b05745a678d18e46ca446d">Configuration::getMoveModeFirstRightPin</a>(){
<a name="l00154"></a>00154   <span class="keywordflow">return</span> <a class="code" href="class_configuration.html#a2fdf55feb1a8b3ecde58405c67afe698">_moveModeFirstRightPin</a>;
<a name="l00155"></a>00155 }
<a name="l00156"></a>00156 
<a name="l00160"></a><a class="code" href="class_configuration.html#a61259ac00808ee06c50ed32045287b5d">00160</a> <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#a61259ac00808ee06c50ed32045287b5d">Configuration::setMoveModeFirstRightPin</a>(byte value){
<a name="l00161"></a>00161   <a class="code" href="class_configuration.html#a2fdf55feb1a8b3ecde58405c67afe698">_moveModeFirstRightPin</a> = value;
<a name="l00162"></a>00162 }
<a name="l00163"></a>00163 
<a name="l00167"></a><a class="code" href="class_configuration.html#a2c95181edbee124c040f5db52c15fdb6">00167</a> byte <a class="code" href="class_configuration.html#a2c95181edbee124c040f5db52c15fdb6">Configuration::getMoveModeSecondRightPin</a>(){
<a name="l00168"></a>00168   <span class="keywordflow">return</span> <a class="code" href="class_configuration.html#a6232e7ba37ad172f80c5248239bd8f9b">_moveModeSecondRightPin</a>;
<a name="l00169"></a>00169 }
<a name="l00170"></a>00170 
<a name="l00174"></a><a class="code" href="class_configuration.html#a47380130f77e70e563c79f2b87e3e692">00174</a> <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#a47380130f77e70e563c79f2b87e3e692">Configuration::setMoveModeSecondRightPin</a>(byte value){
<a name="l00175"></a>00175   <a class="code" href="class_configuration.html#a6232e7ba37ad172f80c5248239bd8f9b">_moveModeSecondRightPin</a> = value;
<a name="l00176"></a>00176 }
<a name="l00177"></a>00177 
<a name="l00182"></a><a class="code" href="class_configuration.html#a0b0009b5114b418831478c031372d12c">00182</a> <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#a0b0009b5114b418831478c031372d12c">Configuration::getCurrentConfiguration</a>(<span class="keywordtype">long</span>* spaceForConfigValues){
<a name="l00183"></a>00183   spaceForConfigValues[0] = <a class="code" href="class_configuration.html#a4ac462aa12ad49539d33d3ea718805c6" title="Returns the version of the configuration (number will be increased after a set of new configuration v...">_CONFIGURATIONVERSION</a>;
<a name="l00184"></a>00184   spaceForConfigValues[1] = <a class="code" href="class_configuration.html#a7e97b2bad64cee71271070bde2f71b74" title="Defines the serial data rate.">_SERIALSPEED</a>;
<a name="l00185"></a>00185   spaceForConfigValues[2] = <a class="code" href="class_configuration.html#ae70babe0ee36a4650fbece87d8c7d3ba">_messageFilterLevel</a>;
<a name="l00186"></a>00186   spaceForConfigValues[3] = <a class="code" href="class_configuration.html#aca67601e35566058e2bca41b7188469e" title="Time in milliseconds to wait before the main loop starts. Can be used for debug purposes.">doJobDelay</a>;
<a name="l00187"></a>00187   spaceForConfigValues[4] = <a class="code" href="class_configuration.html#a24e118088874b8f9d56bcaf245f1461d" title="The initial speed of the left motor when the parcours starts (0-255).">lineFollowInitialSpeedLeft</a>;
<a name="l00188"></a>00188   spaceForConfigValues[5] = <a class="code" href="class_configuration.html#aabc113e529eb659768ca98f15d3952a3" title="The initial speed of the left motor when the parcours starts (0-255).">lineFollowInitialSpeedRight</a>;
<a name="l00189"></a>00189   spaceForConfigValues[6] = <a class="code" href="class_configuration.html#aa799e7ed6a4722085506a31c051bf103" title="Interval in milliseconds in which the line follow job shall be executed.">lineFollowInterval</a>;
<a name="l00190"></a>00190   spaceForConfigValues[7] = <a class="code" href="class_configuration.html#aabaf837f8816911a6d0b1e8cd7867cb9">lineFollowKp</a>;
<a name="l00191"></a>00191   spaceForConfigValues[8] = <a class="code" href="class_configuration.html#aad2572d8c68520c2ef6613d29f38a9cf">lineFollowKd</a>;
<a name="l00192"></a>00192   spaceForConfigValues[9] = <a class="code" href="class_configuration.html#a6c0d6f8b78ea6b6e167c80bce9447906" title="Threshold value from black to white.">lineFollowWhiteThreshold</a>;
<a name="l00193"></a>00193   spaceForConfigValues[10] = <a class="code" href="class_configuration.html#abb72b12442f449f9e1cb31c444b40927" title="The speed of the slower motor (in a left curve, left motor) during a 90° curve.">curveSpeedSlowMotor</a>;
<a name="l00194"></a>00194   spaceForConfigValues[11] = <a class="code" href="class_configuration.html#a5bca21a22d225315fca8088a4668d20c" title="The speed of the faster motor (in a left curve, right motor) during a 90° curve.">curveSpeedFastMotor</a>;
<a name="l00195"></a>00195   spaceForConfigValues[12] = <a class="code" href="class_configuration.html#aa2238d49c21c52f8e86ff0ac80aff034" title="Interval in milliseconds in which the curve job shall be executed.">curveInterval</a>;
<a name="l00196"></a>00196   spaceForConfigValues[13] = <a class="code" href="class_configuration.html#adec850d0b0519d7a799841e6086a777d" title="Time in milliseconds after which the end sensor (end sensor = sensor that will recognize when the cur...">curveActivateEndSensorOffset</a>;
<a name="l00197"></a>00197   spaceForConfigValues[14] = <a class="code" href="class_configuration.html#a9b33a4a750145bf398c4030922784967" title="Interval in milliseconds in which the debug sensors.">sensorDebugInterval</a>;
<a name="l00198"></a>00198   spaceForConfigValues[15] = <a class="code" href="class_configuration.html#a6c05aa8e21c264aab388e9532f6aa6a3" title="Time in milliseconds between reading every sensor.">sensorDebugReadGap</a>;
<a name="l00199"></a>00199 }
<a name="l00200"></a>00200 
<a name="l00210"></a><a class="code" href="class_configuration.html#a13c417c35f720cae9917b7bed7ceb159">00210</a> <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#a13c417c35f720cae9917b7bed7ceb159">Configuration::updateConfiguration</a>(<span class="keywordtype">int</span>* parameters){
<a name="l00211"></a>00211   <span class="comment">//CONSTANTS will be ingored</span>
<a name="l00213"></a>00213 <span class="comment"></span>  <a class="code" href="class_configuration.html#ae70babe0ee36a4650fbece87d8c7d3ba">_messageFilterLevel</a> = parameters[2];
<a name="l00214"></a>00214   <a class="code" href="class_configuration.html#aca67601e35566058e2bca41b7188469e" title="Time in milliseconds to wait before the main loop starts. Can be used for debug purposes.">doJobDelay</a> = parameters[3];
<a name="l00215"></a>00215   <a class="code" href="class_configuration.html#a24e118088874b8f9d56bcaf245f1461d" title="The initial speed of the left motor when the parcours starts (0-255).">lineFollowInitialSpeedLeft</a> = parameters[4];
<a name="l00216"></a>00216   <a class="code" href="class_configuration.html#aabc113e529eb659768ca98f15d3952a3" title="The initial speed of the left motor when the parcours starts (0-255).">lineFollowInitialSpeedRight</a> = parameters[5];
<a name="l00217"></a>00217   <a class="code" href="class_configuration.html#aa799e7ed6a4722085506a31c051bf103" title="Interval in milliseconds in which the line follow job shall be executed.">lineFollowInterval</a> = parameters[6];
<a name="l00218"></a>00218   <a class="code" href="class_configuration.html#aabaf837f8816911a6d0b1e8cd7867cb9">lineFollowKp</a> = parameters[7];
<a name="l00219"></a>00219   <a class="code" href="class_configuration.html#aad2572d8c68520c2ef6613d29f38a9cf">lineFollowKd</a> = parameters[8];
<a name="l00220"></a>00220   <a class="code" href="class_configuration.html#a6c0d6f8b78ea6b6e167c80bce9447906" title="Threshold value from black to white.">lineFollowWhiteThreshold</a> = parameters[9];
<a name="l00221"></a>00221   <a class="code" href="class_configuration.html#abb72b12442f449f9e1cb31c444b40927" title="The speed of the slower motor (in a left curve, left motor) during a 90° curve.">curveSpeedSlowMotor</a> = parameters[10];
<a name="l00222"></a>00222   <a class="code" href="class_configuration.html#a5bca21a22d225315fca8088a4668d20c" title="The speed of the faster motor (in a left curve, right motor) during a 90° curve.">curveSpeedFastMotor</a> = parameters[11];
<a name="l00223"></a>00223   <a class="code" href="class_configuration.html#aa2238d49c21c52f8e86ff0ac80aff034" title="Interval in milliseconds in which the curve job shall be executed.">curveInterval</a> = parameters[12];
<a name="l00224"></a>00224   <a class="code" href="class_configuration.html#adec850d0b0519d7a799841e6086a777d" title="Time in milliseconds after which the end sensor (end sensor = sensor that will recognize when the cur...">curveActivateEndSensorOffset</a> = parameters[13];
<a name="l00225"></a>00225   <a class="code" href="class_configuration.html#a9b33a4a750145bf398c4030922784967" title="Interval in milliseconds in which the debug sensors.">sensorDebugInterval</a> = parameters[14];
<a name="l00226"></a>00226   <a class="code" href="class_configuration.html#a6c05aa8e21c264aab388e9532f6aa6a3" title="Time in milliseconds between reading every sensor.">sensorDebugReadGap</a> = parameters[15];
<a name="l00227"></a>00227 }
<a name="l00228"></a>00228 
<a name="l00233"></a>00233 <span class="keyword">extern</span> <span class="keywordtype">int</span> <a class="code" href="_configuration_8cpp.html#ac56d62881d5ef8cb3152d3e4a697e46a">__bss_end</a>;
<a name="l00234"></a>00234 <span class="keyword">extern</span> <span class="keywordtype">void</span> *<a class="code" href="_configuration_8cpp.html#a8d18204366e8a385c441663ed41f1ae4">__brkval</a>;
<a name="l00235"></a><a class="code" href="class_configuration.html#a6ecb6e35520b0877eb8a1ccb47b577b4">00235</a> <span class="keywordtype">int</span> <a class="code" href="class_configuration.html#a6ecb6e35520b0877eb8a1ccb47b577b4">Configuration::getFreeMemory</a>()
<a name="l00236"></a>00236 {
<a name="l00237"></a>00237   <span class="keywordtype">int</span> free_memory;
<a name="l00238"></a>00238 
<a name="l00239"></a>00239   <span class="keywordflow">if</span>((<span class="keywordtype">int</span>)<a class="code" href="_configuration_8cpp.html#a8d18204366e8a385c441663ed41f1ae4">__brkval</a> == 0)
<a name="l00240"></a>00240     free_memory = ((int)&amp;free_memory) - ((int)&amp;<a class="code" href="_configuration_8cpp.html#ac56d62881d5ef8cb3152d3e4a697e46a">__bss_end</a>);
<a name="l00241"></a>00241   <span class="keywordflow">else</span>
<a name="l00242"></a>00242     free_memory = ((int)&amp;free_memory) - ((int)<a class="code" href="_configuration_8cpp.html#a8d18204366e8a385c441663ed41f1ae4">__brkval</a>);
<a name="l00243"></a>00243 
<a name="l00244"></a>00244   <span class="keywordflow">return</span> free_memory;
<a name="l00245"></a>00245 }
<a name="l00246"></a>00246 
<a name="l00247"></a>00247 
<a name="l00248"></a>00248 
<a name="l00249"></a>00249 
<a name="l00250"></a>00250 
<a name="l00251"></a>00251 
<a name="l00252"></a>00252 
<a name="l00253"></a>00253 
<a name="l00254"></a>00254 
<a name="l00255"></a>00255 
<a name="l00256"></a>00256 
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